In this work we consider a class of nonlinear flat systems evolving on the tangent bundle TG of a Lie-Group G. For this class of systems every set of local coordinate functions is a local flat output. As a consequence, the canonical projection of TG on G acts as a global flat output, called flat information. It is shown that a stabilization control law for such a system induces canonically a control law for tracking assintotically any desired trajectory on G. It is show that ε(t) = g(t)h-1(t) is a 'global' tracking error information, where g(t) is the desired trajectory on G and g(t) is the actual position. An application of these results to attitude control is presented. Based on a robust (nonlinearizing) global stabilization strategy, a control law for tracking assintotically a desired trajectory on SO(3) is designed. Some computer simulations of the closed loop system are presented.
|Title of host publication||European Control Conference, ECC 1999 - Conference Proceedings|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - 24 Mar 2015|
|Event||1999 European Control Conference, ECC 1999 - Karlsruhe, Germany|
Duration: 31 Aug 1999 → 3 Sep 1999
|Name||European Control Conference, ECC 1999 - Conference Proceedings|
|Conference||1999 European Control Conference, ECC 1999|
|Period||31/08/99 → 3/09/99|
Bibliographical notePublisher Copyright:
© 1999 EUCA.
- attitude control
- Lyapunov stability
- Nonlinear systems